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          FreeRTOS-消息队列内部细节
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本文讨论FreeRTOS消息队列的一些内部细节。
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<p>消息队列的使用示例，可以参考<a href="https://fengxun2017.github.io/2022/12/12/FreeRTOS-use-queue/">FreeRTOS-使用消息队列</a></p>
<p>消息队列的作用不仅仅是用来进行数据通信，从软件设计上来说，更重要的作用是可以将一个复杂软件系统，划分成多个功能相对独立的模块，各个模块间通过消息队列进行数据传递以实现解耦。如此，一个大的复杂系统，被划分成多个功能清晰明确的更小的子模块，使得软件更易维护。并且，当需要修改某一个子模块的功能时，可以最大程度避免影响其它模块（对于每个子模块来说，数据是通过消息队列过来的，只要数据格式未变动，那么就感知不到数据发送方内部做了什么改动<br>）。</p>
<p>FreeRTOS的消息队列，需要在创建时指定队列的大小（最大可以同时保留的消息数量）以及消息的大小。如下图所示<br><img src="/2022/12/08/FreeRTOS-queue-internal-details/queue_size.png"></p>
<p>创建消息队列的API为：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">QueueHandle_t <span class="title function_">xQueueCreate</span><span class="params">( UBaseType_t uxQueueLength, UBaseType_t uxItemSize )</span></span><br></pre></td></tr></table></figure>
<ul>
<li><p>uxQueueLength：队列大小</p>
</li>
<li><p>uxItemSize：队列中每个消息的大小。</p>
</li>
<li><p>返回值：消息队列句柄，用来唯一识别创建的这个消息队列。</p>
</li>
</ul>
<p><code>xQueueCreate</code>函数返回的消息队列句柄，为一个指针，指向的区域保存了该消息队列的相关信息（队列大小，消息大小，实际消息存储区等）。例如，当我们调用该 API创建消息队列一个消息队列</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">QueueHandle_t my_queue = xQueueCreate(<span class="number">6</span>, <span class="keyword">sizeof</span>(<span class="keyword">struct</span> my_data))</span><br></pre></td></tr></table></figure>
<p>实际生成的消息队列在内存组织结构如下图所示：<br><img src="/2022/12/08/FreeRTOS-queue-internal-details/memory_struct.png"></p>
<p>即，内核是直接申请了一大块连续的内存，前面存放这个消息队列的相关信息，随后紧接着就是实际的消息存储区域。消息队列的写指针指向第一个消息（待写入位置），而读指针则指向待读取的消息的前一个消息（读取消息时，内部会先将读指针前进一次，再读）。</p>
<p>消息队列创建成功后，即可通过 </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">BaseType_t <span class="title function_">xQueueSend</span><span class="params">( QueueHandle_t xQueue, <span class="type">const</span> <span class="type">void</span> * pvItemToQueue, TickType_t xTicksToWait )</span></span><br></pre></td></tr></table></figure>
<p>推送消息到消息队列中。需要注意的是，虽然第二个参数为指向待发送消息的指针，但内部实际是用指针作为起始地址，然后拷贝<code>uxItemSize</code>（消息大小）个连续字节。即FreeRTOS的消息队列，是直接拷贝了一份数据，而不是仅传递指针。这样的好处是，发送的数据的所有权更明确（由内核管控），而传递指针的话，则需要数据的发送方或接收方在合适的时间释放内存。</p>
<p>数据接收，则通过</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">BaseType_t <span class="title function_">xQueueReceive</span><span class="params">( QueueHandle_t xQueue, <span class="type">void</span> *pvBuffer, TickType_t xTicksToWait )</span>;</span><br></pre></td></tr></table></figure>
<p>先发送的消息会被先接收到。</p>
<p>上述发送和接收函数都存在第三个参数<code>xTicksToWait</code>。<br><code>xQueueSend</code>函数中的<code>xTicksToWait</code> ，表示如果当前消息队列中消息存满了，那么就等待其有空闲位置（存在其它地方从消息队列中提取消息了，则会出现空闲位置），等待的超时时间就是<code>xTicksToWait</code>（<code>使用pdMS_TO_TICKS(ms)将时间转换成tick数</code>）。为0表示不等待，立刻返回。</p>
<p><code>xQueueReceive</code>函数中的<code>xTicksToWait</code> ，表示如果当前消息队列中没有可提取的消息，那么就等待其有消息（当有其它地方向消息队列中发送消息），等待的超时时间就是<code>xTicksToWait</code>（<code>使用pdMS_TO_TICKS(ms)将时间转换成tick数</code>）。为0表示不等待，立刻返回。</p>
<p>当涉及到需要等待一段时间，当前任务（当前调用<code>xQueueSend/xQueueReceive</code>的任务）就会进入阻塞态，之后内核会选择当前系统中优先级最高的就绪任务进行调度，让其运行。<br>那么，如果超时时间还未到，但消息队列有空闲位置了&#x2F;有消息了，任务是如何恢复运行的？或者超时时间到了，任务如何恢复运行？</p>
<p>这就涉及到消息队列数据结构中的两个成员：<br><strong>xTasksWaitingToSend</strong>：等待消息队列有空闲位置的任务链表（即，当某个任务在消息队列满时，调用<code>xQueueSend</code>发送消息数据，如果设定了等待时间，那么该任务就会被挂到该任务链表中）。<br><strong>xTasksWaitingToReceive</strong>：等待消息队列有消息的任务链表（即，当某个任务在消息队列为空时，调用<code>xQueueReceive</code>获取消息，如果设定了等待时间，那么该任务就会被挂到该任务链表中）。<br>如下图所示：（下图只是演示，实际队列不会是又满又空的状态，所以不会出现<code>xTasksWaitingToSend</code>和<code>xTasksWaitingToReceive</code>中都挂有任务）<br><img src="/2022/12/08/FreeRTOS-queue-internal-details/queue-task-list.png"></p>
<p>并且，这两个链表是按照任务的优先级排序的，优先级高的任务在链表的前面。这样当消息队列有空闲位置&#x2F;有数据时，就能直接通知最高优先级的等待任务（链表第一个）。</p>
<p>挂在<strong>xTasksWaitingToSend</strong> 链表中的任务，都是在等待消息队列有空闲位置可以放下新消息。因此，一旦有其它任务（或中断服务程序）从该消息队列中取走数据了，那么消息队列就会从<strong>xTasksWaitingToSend</strong>链表中找到第一个最高优先级的任务，让其恢复就绪态（有空闲位置可以发送消息了），如果该恢复就绪态的任务的优先级，是当前所有处于就绪态任务中优先级最高的，那么该任务就能立刻恢复运行。</p>
<p>同理，挂在<strong>xTasksWaitingToReceive</strong> 链表中的任务，都是在等待消息队列有消息可提取。因此，一旦有其它任务（或中断服务程序）向该消息队列中发送数据了，那么消息队列就会从<strong>xTasksWaitingToReceive</strong>链表中找到第一个最高优先级的任务，让其恢复就绪态（有消息可以提取了），如果该恢复就绪态的任务的优先级，是当前所有处于就绪态任务中优先级最高的，那么该任务就能立刻恢复运行。</p>
<p>通过消息队列中的<strong>xTasksWaitingToSend</strong>和<strong>xTasksWaitingToReceive</strong> 成员，就可以实现消息队列有空闲位置&#x2F;有消息时及时通知那些等待在该消息队列上的任务。 但另一方面，如果消息队列一直没有空闲位置&#x2F;没有消息，超时时间到后，任务又如何恢复呢？<br>原理和上文一样，内核会同时将任务也挂在一个<code>延迟任务链表</code>上，内核会在每个时钟滴答时检查这个链表上的任务是否达到超时时间，达到了，内核就会将其恢复为就绪态。</p>
<p>例如，当我们在任务<code>task_a</code>中调用<code>xQueueSend（my_queue, pdata, pdMS_TO_TICKS(1000)）</code>向一个满的消息队列<code>my_queue</code>发送消息，并且设置超时时间为1秒。那么<code>task_a</code>任务会被同时挂到 <code>my_queue</code>的<code>xTasksWaitingToSend</code>任务链表上，以及内核中的<code>DelayedTaskList</code>链表上。如下图所示：<br><img src="/2022/12/08/FreeRTOS-queue-internal-details/task-status.png"></p>
<p>如此，无论是消息队列<code>my_queue</code>有空闲位置可以发送消息了，或者超时时间到期了，任意条件满足时都能立刻通知到等待的任务<code>task_a</code>，让其恢复就绪态，并且当<code>task_a</code>是当前优先级最高的就绪任务时，会立刻得到运行。</p>
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